Seeing Empty Space in an Unknown Environment without Silhouettes
- Cite this paper as:
- Eppendahl A., Ojamaa A. (2006) Seeing Empty Space in an Unknown Environment without Silhouettes. In: Murase K., Sekiyama K., Naniwa T., Kubota N., Sitte J. (eds) Proceedings of the 3rd International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2005). Springer, Berlin, Heidelberg
We show that a map of empty space around objects near a mobile camera in an unknown environment can be obtained from a naive light field model of image data. We observe that, between the nearest objects, cells with different light in different directions correspond to empty space. We describe experiments with a robot in an environment with black objects and white objects seen against a black and white background. As there are no absolute silhouettes in this environment, ordinary silhouette methods cannot be used. We demonstrate that the robot is able, in real-time, to find and pass through a gap in a row of objects or stop if no gap is wide enough.
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